Structural detection method, device, system and storage medium

Abstract

The embodiments of the present application provide a structural detection method, device, system and storage medium, including: obtaining the position information of each test point of the object to be tested, wherein the object to be tested is made of soft material; based on the position information of each test point, each test point is divided and processed to obtain multiple local areas; a drive instruction is generated according to the local area, wherein the drive instruction corresponds to a tactile detection device; the drive instruction is sent to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; feedback information from each tactile detection device is received; based on the feedback information, the drive instruction and the position information of the test point, the local structural information of each local area is determined, and the overall structural information of the object to be tested is obtained based on all the local structural information. The embodiments of the present application can improve the efficiency of structural detection of the object to be tested made of soft material, thereby reducing the time consumption of the detection process.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of structure detection technology, and in particular to a structure detection method, device, system and storage medium. Background Art

[0002] Tactile perception is a fundamental interaction between biorobots and their environment, enabling them to identify object contact and collect feature information about the object.

[0003] At present, when the structure of the object to be tested is detected by a tactile detection system, in order to effectively detect the structure of the object to be tested, it is usually necessary to detect a large number of test points of the object to be tested. Since only one test point of the object to be tested can be detected at a time, it is necessary to wait for the previous test point to be detected before the next test point can be detected, resulting in low efficiency in the structural detection of the object to be tested and a long detection process. Summary of the invention

[0004] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0005] The embodiments of the present application provide a structure detection method, device, system and storage medium, which can improve the efficiency of structure detection of an object to be detected made of soft materials, thereby reducing the time consumption of the detection process.

[0006] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a structure detection method, which is applied to a controller of a structure detection system, wherein the structure detection system includes multiple tactile detection devices and the controller, and the tactile detection device is electrically connected to the controller, and the method includes: obtaining position information of each test point of the object to be tested, wherein the object to be tested is made of soft material; based on the position information of each of the test points, dividing each of the test points to obtain multiple local areas; generating a drive instruction according to the local area, wherein the drive instruction corresponds to the tactile detection device; sending the drive instruction to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; receiving feedback information from each of the tactile detection devices; determining the local structure information of each of the local areas according to the feedback information, the drive instruction and the position information of the test point, and obtaining the overall structure information of the object to be tested according to all the local structure information.

[0007] In some embodiments, the local structural information of each of the local areas is determined according to the feedback information, the drive instruction and the position information of the point to be measured, and the overall structural information of the object to be measured is obtained according to all the local structural information, including: determining the force curve of the tactile detection device according to the feedback information; determining the displacement curve of the tactile detection device according to the drive instruction, wherein the displacement curve corresponds to the force curve; for any of the local areas, determining the local structural information of the local area according to a preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, wherein the sampling gradient is used to sample the force curve or the displacement curve; and obtaining the overall structural information of the object to be measured according to all the local structural information.

[0008] In some embodiments, before the step of determining the local structural information of any of the local areas according to a preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, the method further includes: for any of the local areas, determining a target point to be measured among all the points to be measured, and associating the target point to be measured with the local area to obtain an association relationship between the target point to be measured and the local area, wherein the target point to be measured is located at the edge or inside of the local area; for any of the points to be measured, based on the association relationship, determining the number of the local areas associated with the point to be measured, and obtaining the number of area associations of the point to be measured, wherein the number of force curves and displacement curves corresponding to the point to be measured are both equal to the number of area associations; traversing each of the points to be measured, when the number of area associations of the point to be measured is greater than one, averaging the force curves corresponding to the point to be measured to update the force curve, and averaging the displacement curves corresponding to the point to be measured to update the displacement curve.

[0009] In some embodiments, the local area is a rectangular area; based on the position information of each of the points to be measured, each of the points to be measured is divided and processed to obtain multiple local areas, including: determining a measurement area according to the position information of each of the points to be measured; dividing the measurement area to obtain multiple adjacent rectangular areas.

[0010] In some embodiments, any of the tactile detection devices is provided with a plurality of tactile sensors, the measuring ends of the tactile sensors are located in the same horizontal plane, and the sizes of any two of the local areas are the same.

[0011] In some embodiments, the sampling gradient includes a force gradient, and the local structure information includes height structure information; for any of the local areas, the local structure information of the local area is determined according to the preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, including: for any of the points to be measured, based on the force gradient, sampling and processing the force curve, and determining multiple first target force values, wherein the difference between any two adjacent first target force values ​​is equal to the force gradient; determining a first target displacement value according to the first target force value and the displacement curve, wherein the first target displacement value corresponds to the first target force value; for any of the local areas, the height structure information is determined according to the position information, the first target force value and the corresponding first target displacement value.

[0012] In some embodiments, the sampling gradient includes a displacement gradient, and the local structure information includes force structure information; for any of the local areas, the local structure information of the local area is determined according to the preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, including: for any of the points to be measured, based on the displacement gradient, sampling and processing the displacement curve to determine multiple second target displacement values, wherein the difference between any two adjacent second target displacement values ​​is equal to the displacement gradient; determining a second target force value according to the second target displacement value and the force curve, wherein the second target force value corresponds to the second target displacement value; for any of the local areas, the force structure information is determined according to the position information, the second target displacement value and the corresponding second target force value.

[0013] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a structure detection device, which is applied to a controller of a structure detection system, wherein the structure detection system includes multiple tactile detection devices and the controller, wherein the tactile detection device is electrically connected to the controller, and the device includes: an acquisition unit, which is used to acquire the position information of each test point of the object to be measured, wherein the object to be measured is made of soft material; a division unit, which is used to divide each of the test points based on the position information of each of the test points to obtain multiple local areas; a generation unit, which is used to generate a drive instruction according to the local area, wherein the drive instruction corresponds to the tactile detection device; a sending unit, which is used to send the drive instruction to the corresponding tactile detection device so that the tactile detection device moves toward the corresponding local area; a receiving unit, which is used to receive feedback information from each of the tactile detection devices; a structure determination unit, which is used to determine the local structure information of each of the local areas according to the feedback information, the drive instruction and the position information of the test point, and obtain the overall structure information of the object to be measured according to all the local structure information.

[0014] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes a structure detection system, which includes multiple tactile detection devices and a controller, and the tactile detection device is electrically connected to the controller; the controller has a memory and a processor, and the memory stores a computer program, and when the processor executes the computer program, it implements the structure detection method described in the first aspect above.

[0015] To achieve the above objectives, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the structure detection method described in the first aspect.

[0016] The structural detection method, device, system and storage medium proposed in the present application, the embodiments of the present application include: obtaining the position information of each test point of the object to be tested, wherein the object to be tested is made of soft material; based on the position information of each test point, each test point is divided and processed to obtain multiple local areas; according to the local areas, a drive instruction is generated, wherein the drive instruction corresponds to the tactile detection device; the drive instruction is sent to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; feedback information is received from each tactile detection device; according to the feedback information, the drive instruction and the position information of the test point, the local structural information of each local area is determined, and the overall structural information of the object to be tested is obtained according to all the local structural information. According to the solution provided in the embodiment of the present application, each test point of the object to be tested is first divided into multiple local areas through division processing, and then, under the action of the controller, multiple tactile detection devices are controlled to detect each local area of ​​the object to be tested respectively. For any tactile detection device, the controller sends a drive instruction to control the tactile detection device to first move above the corresponding local area, and then controls the tactile detection device to move toward the local area, and receives feedback information from the tactile detection device in real time, and then combines the feedback information, the drive instruction and the position information of the test point to determine the local structure information of each local area, and then determines the overall structure information of the object to be tested. , multiple tactile detection devices detect simultaneously, which can improve the efficiency of structural detection of the object to be tested made of soft materials, thereby reducing the time consumption of the detection process; in addition, each tactile detection device operates according to the corresponding drive instruction, and any tactile detection device can immediately start detecting the next point to be tested after detecting the current point to be tested, and any tactile detection device can immediately start detecting the points to be tested in the next local area after detecting all the points to be tested in the current local area, without being affected by the detection process of other tactile detection devices. The detection processes of each tactile detection device are independent of each other and do not interfere with each other, which can reduce the overall time consumption of the detection process and further improve the detection efficiency.

[0017] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0019] Figure 1is a flow chart of a structure detection method provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart for determining a feature of a first region provided by another embodiment of the present application;

[0021] Figure 3 is a flow chart for determining a target displacement value provided by another embodiment of the present application;

[0022] Figure 4 is a flow chart for determining a feature of a second region provided by another embodiment of the present application;

[0023] Figure 5 is a flow chart for determining a target force value provided by another embodiment of the present application;

[0024] Figure 6 is a flow chart for determining a target force value provided by another embodiment of the present application;

[0025] Figure 7 is a schematic diagram of a local area of ​​an object to be tested provided by another embodiment of the present application;

[0026] Figure 8 is a schematic diagram of feedback information of multiple test points provided by another embodiment of the present application;

[0027] Fig. 9 is a schematic diagram of a mechanical response curve of a tactile detection device provided by another embodiment of the present application;

[0028] Fig.10 is a schematic structural diagram of a structure detection device provided by another embodiment of the present application;

[0029] Fig.11 is a system block diagram of a structure detection system provided by another embodiment of the present application;

[0030] Fig.12 It is a hardware structure diagram of a controller of a structure detection system provided in another embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] In the description of this application, “several” means one or more, “more” means more than two, “greater than”, “less than”, “exceed”, etc. are understood to exclude the number, and “above”, “below”, “within”, etc. are understood to include the number.

[0033] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0034] At present, when the structure of the object to be tested is detected by a tactile detection system, in order to effectively detect the structure of the object to be tested, it is usually necessary to detect a large number of test points of the object to be tested. Since only one test point of the object to be tested can be detected at a time, it is necessary to wait for the previous test point to be detected before the next test point can be detected, resulting in low efficiency in the structural detection of the object to be tested and a long detection process.

[0035] In response to the problems of low efficiency in structural detection of an object to be tested and a long detection process, the present application provides a structural detection method, device, system and storage medium, the method being applied to a controller of a structural detection system, the structural detection system comprising a plurality of tactile detection devices and a controller, the tactile detection device being electrically connected to the controller, the method comprising: obtaining position information of each point to be tested of the object to be tested, wherein the object to be tested is made of a soft material; dividing each point to be tested based on the position information of each point to be tested to obtain a plurality of local areas; generating a drive instruction according to the local area, wherein the drive instruction corresponds to the tactile detection device; sending the drive instruction to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; receiving feedback information from each tactile detection device; determining local structural information of each local area according to the feedback information, the drive instruction and the position information of the point to be tested, and obtaining the overall structural information of the object to be tested according to all the local structural information. According to the solution provided in the embodiment of the present application, each test point of the object to be tested is first divided into multiple local areas through division processing, and then, under the action of the controller, multiple tactile detection devices are controlled to detect each local area of ​​the object to be tested respectively. For any tactile detection device, the controller sends a drive instruction to control the tactile detection device to first move above the corresponding local area, and then controls the tactile detection device to move toward the local area, and receives feedback information from the tactile detection device in real time, and then combines the feedback information, the drive instruction and the position information of the test point to determine the local structure information of each local area, and then determines the overall structure information of the object to be tested. , multiple tactile detection devices detect simultaneously, which can improve the efficiency of structural detection of the object to be tested made of soft materials, thereby reducing the time consumption of the detection process; in addition, each tactile detection device operates according to the corresponding drive instruction, and any tactile detection device can immediately start detecting the next point to be tested after detecting the current point to be tested, and any tactile detection device can immediately start detecting the points to be tested in the next local area after detecting all the points to be tested in the current local area, without being affected by the detection process of other tactile detection devices. The detection processes of each tactile detection device are independent of each other and do not interfere with each other, which can reduce the overall time consumption of the detection process and further improve the detection efficiency.

[0036] The structure detection method, device, system and storage medium provided in the embodiments of the present application are specifically described through the following embodiments. First, the structure detection method in the embodiments of the present application is described.

[0037] The structural detection method provided in the embodiment of the present application relates to the field of imaging detection technology. The structural detection method provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, or can be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or can be configured as a server cluster or a distributed system composed of multiple physical servers, or can be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the structural detection method, etc., but is not limited to the above forms.

[0038] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0039] The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0040] like Figure 1 As shown, Figure 1 This is a flow chart of a structure detection method provided by an embodiment of the present application. The structure detection method can be applied to a controller of a structure detection system, the structure detection system includes a plurality of tactile detection devices and a controller, the tactile detection device is electrically connected to the controller, and the structure detection method includes but is not limited to the following steps:

[0041] Step S110, obtaining position information of each test point of the object to be tested, wherein the object to be tested is made of a soft material;

[0042] Step S120, dividing each of the test points based on the position information of each of the test points to obtain a plurality of local areas;

[0043] Step S130, generating a driving instruction according to the local area, wherein the driving instruction corresponds to the tactile detection device;

[0044] Step S140, sending a driving instruction to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area;

[0045] Step S150, receiving feedback information from each tactile detection device;

[0046] Step S160, determining the local structural information of each local area according to the feedback information, the driving instruction and the position information of the test point, and obtaining the overall structural information of the test object according to all the local structural information.

[0047] It can be understood that, as a substitute or compensation for vision, tactile perception can be compatible with bio-robots, providing another strategy for obtaining surface or internal information of objects; the object to be tested is made of soft materials, and the tactile detection device can effectively detect each test point of the object to be tested, and then determine the structure of the object to be tested. By dividing into multiple local areas, multiple tactile detection devices simultaneously detect the corresponding local areas, which can improve the detection efficiency, and can first detect the key local areas, and give priority to determining the structure of the key local areas, which is highly practical; based on this, first through division processing, the various test points of the object to be tested are divided into multiple local areas, and then under the action of the controller, the multiple tactile detection devices are controlled to detect each local area of ​​the object to be tested respectively. For any tactile detection device, the controller sends a drive instruction to control the tactile detection device to move first to the top of the corresponding local area, and then controls the tactile detection device to move to the top of the corresponding local area. The detection device moves toward the local area and receives feedback information from the tactile detection device in real time, and then determines the local structural information of each local area in combination with the feedback information, driving instructions and position information of the test point, and then determines the overall structural information of the test object. Multiple tactile detection devices detect simultaneously, which can improve the structural detection efficiency of the test object made of soft materials, thereby reducing the time consumption of the detection process; in addition, each tactile detection device operates according to the corresponding driving instruction. After any tactile detection device detects the current test point, it can immediately start to detect the next test point. Moreover, after any tactile detection device detects all the test points in the current local area, it can immediately start to detect the test points in the next local area, without being affected by the detection process of other tactile detection devices. The detection processes of each tactile detection device are independent of each other and do not interfere with each other, which can reduce the overall time consumption of the detection process and further improve the detection efficiency.

[0048] It is worth noting that since the softness of each test point of the object to be tested is different, or the morphology of each test point is different, the detection time of each test point is different. Compared with the synchronous detection method of multiple tactile detection devices, each tactile detection device needs to start detection at the same time. For example, if a tactile detection device takes a long time, other tactile detection devices need to wait for the tactile detection device to complete the detection before simultaneously detecting the next test point, and the detection efficiency is low. The structural detection method provided in the embodiment of the present application belongs to the asynchronous detection method, and the detection processes of each tactile detection device are independent of each other and do not interfere with each other. If a tactile detection device completes the detection of the corresponding test point faster than other tactile detection devices, the tactile detection device can immediately start detecting the next test point, thereby reducing the overall time of the detection process and improving the detection efficiency.

[0049] It should be noted that the local area can be divided according to the area shape set by the user, or can be divided according to the actual size of the object to be measured, or divided according to other rules, which are not limited here; each point to be measured is located on the same side of the object to be measured.

[0050] It should be noted that the more detection times, the higher the accuracy of the structure detection of the object to be measured, but the processing efficiency will also be lower; the number and location of the points to be measured need to be determined through repeated experimental adjustments.

[0051] It should be noted that when the tactile detection device applies pressure to the object to be detected, both the tactile detection device and the object to be detected will deform, but the deformation of the object to be detected should be much larger than the deformation of the tactile detection device to reduce the impact of the deformation of the tactile detection device.

[0052] In specific practice, the tactile detection device includes but is not limited to: a tactile sensor and a three-axis robotic arm, and the tactile sensor is arranged at the movable end of the three-axis robotic arm; before the detection process, the object to be tested is fixed on the storage table, and during the detection process, the three-axis robotic arm drives the tactile sensor to move above the local area of ​​the object to be tested, and then drives the tactile sensor to move downward, so that the tactile sensor presses down the object to be tested.

[0053] It is worth noting that the compression deformation of different soft materials is shown in Table 1 below:

[0054]

[0055] Table 1

[0056] In addition, refer to Figure 2 , in one embodiment, Figure 1 Step S160 in the illustrated embodiment includes but is not limited to the following steps:

[0057] Step S210, determining a force curve of the tactile detection device according to the feedback information;

[0058] Step S220, determining a displacement curve of the tactile detection device according to the driving instruction, wherein the displacement curve corresponds to the force curve;

[0059] Step S230, for any local area, according to the preset sampling gradient, the force curve and the displacement curve and the position information of the measured point, determining the local structure information of the local area, wherein the sampling gradient is used to sample the force curve or the displacement curve;

[0060] Step S240, obtaining the overall structural information of the object to be tested according to all the local structural information.

[0061] It can be understood that the force curve of the tactile detection device is generated by the real-time force value, and the displacement curve of the tactile detection device is generated by the real-time displacement value. According to the positions of each test point in the local area, the sampling interval of the force curve or the displacement curve is determined by the sampling gradient, and then the local structural information of the local area is determined by combining the sampling results of the force curve and the corresponding displacement curve, or combining the sampling results of the displacement curve and the corresponding force curve, and then the overall structural information is determined, so as to accurately detect the structure of the object to be tested.

[0062] It can be understood that for any point to be tested, a maximum displacement or a maximum moving time can be set, the tactile detection device resets the timing when it is in the initial position, and records the moving time when the tactile detection device starts to move; the tactile detection device moves downward until the current displacement is equal to the maximum displacement, or until the current moving time is equal to the maximum moving time, indicating that the tactile detection device no longer needs to continue pressing down on the object to be tested, and the tactile detection device can be reset to the initial position, and then measure the next point to be tested, which can improve work efficiency.

[0063] It should be noted that the corresponding point on the force curve is the force value of the tactile detection device, and the calculation formula of the force value of the tactile detection device is as follows:

[0064] F = A*(exp(B*γ)-1),

[0065] Among them, F is the force value, A and B are constants, and exp() refers to the exponential function with the natural constant e as the base.

[0066]

[0067] ΔR is the resistance change rate of the tactile detection device, R0 is the initial resistance of the tactile detection device, and the resistance change rate of the tactile detection device is determined by feedback information of the tactile detection device.

[0068] In addition, refer to Figure 3 , in one embodiment, Figure 2 Before step S230 in the illustrated embodiment, the following steps are also included but not limited to:

[0069] Step S310, for any of the local areas, determining a target point to be measured among all the points to be measured, and associating the target point to be measured with the local area to obtain an association relationship between the target point to be measured and the local area, wherein the target point to be measured is located at the edge or inside of the local area;

[0070] Step S320, for any of the test points, based on the association relationship, determining the number of the local areas associated with the test point, and obtaining the area association number of the test point, wherein the number of force curves and displacement curves corresponding to the test point are both equal to the area association number;

[0071] Step S330, traverse each of the points to be tested, and when the number of area associations of the points to be tested is greater than one, average the force curves corresponding to the points to be tested to update the force curve, and average the displacement curves corresponding to the points to be tested to update the displacement curve.

[0072] It can be understood that, first, it is necessary to determine the number of local areas associated with each test point. If the test point is only associated with one local area, it means that there is only one force curve and displacement curve of the test point, and no update is required; if the test point is associated with multiple local areas, it means that the test point is simultaneously located within the range of multiple local areas, that is, there are overlapping areas in multiple local areas, and the test point will be detected multiple times by different tactile detection devices, and the detection data of the test points in the overlapping areas need to be smoothed. Specifically, the force curves of the test points in the overlapping areas are averaged, that is, the average value of each force value on the multiple force curves corresponding to the test points is calculated, and a new force curve is generated using the average value of each force value as the updated force curve; in addition, the displacement curves of the test points in the overlapping areas are averaged, that is, the average value of each displacement value on the multiple displacement curves corresponding to the test points is calculated, and a new displacement curve is generated using the average value of each displacement value as the updated displacement curve; this achieves a smoother detection result at the junction of two adjacent local areas and improves the accuracy of structural detection.

[0073] In addition, refer to Figure 4 , in one embodiment, the local area is a rectangular area; Figure 1 Step S120 in the illustrated embodiment includes but is not limited to the following steps:

[0074] Step S410, determining a measurement area according to the position information of each point to be measured;

[0075] Step S420: dividing the measurement area into multiple adjacent rectangular areas.

[0076] It can be understood that the local area is limited to a rectangular area, that is, the shape of the local area is a rectangle. When the measurement area is divided, each rectangular area is adjacent to ensure that all rectangular areas can effectively cover the entire measurement area and ensure the reliability of the detection result.

[0077] In one embodiment, any tactile detection device is provided with a plurality of tactile sensors, the measuring ends of the tactile sensors are located on the same horizontal plane, and the sizes of any two local areas are the same.

[0078] It can be understood that by arranging multiple tactile sensors in the tactile detection device and limiting the measuring ends of each tactile detection device to be located in the same horizontal plane, the reliability of the structural detection results is ensured, and more points to be tested can be detected during a single detection process of the tactile detection device, thereby reducing the number of detection processes and improving detection efficiency; in addition, the size of each local area is limited to be the same, so that the driving instructions of different tactile detection devices are similar, reducing the difficulty of generating motion instructions and improving efficiency.

[0079] In specific practice, a tactile detection device is provided with four tactile sensors, and the measuring ends of the four tactile sensors are respectively located at the four vertices of the same square. During the measurement process, each tactile sensor can complete the detection of a point to be measured. Therefore, compared with only one tactile sensor, setting four tactile sensors can increase the speed by up to four times.

[0080] In addition, refer to Figure 5 , in one embodiment, the sampling gradient includes a force gradient, and the local structure information includes height structure information; Figure 2 Step S230 in the illustrated embodiment includes but is not limited to the following steps:

[0081] Step S510, for any point to be measured, based on the force gradient, sampling and processing are performed on the force curve to determine a plurality of first target force values, wherein the difference between any two adjacent first target force values ​​is equal to the force gradient;

[0082] Step S520, determining a first target displacement value according to the first target force value and the displacement curve, wherein the first target displacement value corresponds to the first target force value;

[0083] Step S530, for any local area, determine the height structure information according to the position information, the first target force value and the corresponding first target displacement value.

[0084] It can be understood that, for any point to be tested, a uniformly spaced sampling method is adopted to determine multiple first target force values ​​in sequence according to a constant force gradient, and the first target force values ​​and the first target displacement values ​​correspond one to one; then, for any first target force value, the corresponding first target displacement value can be determined in each point to be tested, and then combined with the position information of the point to be tested, the first target displacement value of each point to be tested is mapped to the corresponding position, and then the height structure information is determined, which can ensure the structural detection accuracy of the object to be tested.

[0085] It should be noted that, since the difference between any two adjacent first target force values ​​is the same, the change of the height structure information is more regular and the detection effect is better.

[0086] In addition, refer to Figure 6 , in one embodiment, the sampling gradient includes a displacement gradient, and the local structure information includes force structure information; Figure 2 Step S230 in the illustrated embodiment includes but is not limited to the following steps:

[0087] Step S610, for any point to be measured, based on the displacement gradient, sampling the displacement curve to determine a plurality of second target displacement values, wherein the difference between any two adjacent second target displacement values ​​is equal to the displacement gradient;

[0088] Step S620, determining a second target force value according to the second target displacement value and the force curve, wherein the second target force value corresponds to the second target displacement value;

[0089] Step S630, for any local area, determine the force structure information according to the position information, the second target displacement value and the corresponding second target force value.

[0090] It can be understood that, for any point to be measured, a uniformly spaced sampling method is adopted, and multiple second target displacement values ​​are determined in sequence according to a constant displacement gradient, and the second target displacement values ​​and the second target force values ​​correspond one to one; then, for any second target displacement value, the corresponding second target force value can be determined in each point to be measured, and then combined with the position information of the point to be measured, the second target force value of each point to be measured is mapped to the corresponding position, and then the force structure information is determined, which can ensure the structural detection accuracy of the object to be measured.

[0091] It should be noted that, since the difference between any two adjacent second target displacement values ​​is the same, the change of the force structure information is more regular and the detection effect is better.

[0092] In addition, refer to Figure 7 , Figure 7 is a schematic diagram of a local area of ​​an object to be tested provided by another embodiment of the present application;

[0093] It can be understood that there are four tactile detection devices, which detect local areas A, B, C and D respectively, among which the shaded part is the overlapping area between the local areas A, B, C and D. For the points to be tested in the overlapping area, it is necessary to update the force curve and displacement curve of the points to be tested through averaging processing, so as to make the detection result at the junction of two adjacent local areas smoother.

[0094] In addition, refer to Figure 8 , Figure 8 is a schematic diagram of feedback information of multiple test points provided by another embodiment of the present application;

[0095] It can be understood that the five peaks from left to right correspond to the feedback information of five test points, which are test point 1, test point 2, test point 3, test point 4 and test point 5 respectively. The softness of test points 1-5 increases successively. When the detection is performed according to the maximum displacement, when the tactile detection device moves to the maximum displacement, the greater the softness of the test point, the smaller the corresponding force value. Conversely, the smaller the softness of the test point, the greater the corresponding force value. Among them, the softness is the quotient of the displacement value and the force value.

[0096] In addition, refer to Fig. 9 , Fig. 9 is a schematic diagram of a mechanical response curve of a tactile detection device provided by another embodiment of the present application;

[0097] It can be understood that the mechanical response curve of the tactile detection device conforms to the calculation formula of the force value of the tactile detection device, which is more intuitive.

[0098] In addition, refer to Fig.10 The present application also provides a structure detection device 1000, which is applied to a controller of a structure detection system. The structure detection system includes a plurality of tactile detection devices and a controller. The tactile detection device is electrically connected to the controller. The structure detection device 1000 includes:

[0099] An acquisition unit 1010 is used to acquire position information of each test point of the object to be tested, wherein the object to be tested is made of a soft material;

[0100] A division unit 1020 is used to divide each of the test points based on the position information of each of the test points to obtain multiple local areas;

[0101] A generating unit 1030, configured to generate a driving instruction according to the local area, wherein the driving instruction corresponds to the tactile detection device;

[0102] The sending unit 1040 is used to send a driving instruction to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area;

[0103] A receiving unit 1050, configured to receive feedback information from each tactile detection device;

[0104] The structure determination unit 1060 is used to determine the local structure information of each local area according to the feedback information, the driving instruction and the position information of the test point, and obtain the overall structure information of the test object according to all the local structure information.

[0105] It can be understood that the specific implementation of the structure detection device 1000 is basically the same as the specific implementation of the above-mentioned structure detection method, which will not be repeated here; based on this, each test point of the object to be tested is first divided into multiple local areas through division processing, and then under the action of the controller, multiple tactile detection devices are controlled to detect each local area of ​​the object to be tested respectively. For any tactile detection device, the controller sends a driving instruction to control the tactile detection device to first move above the corresponding local area, and then controls the tactile detection device to move toward the local area, and receives feedback information from the tactile detection device in real time, and then determines the position information of each local area in combination with the feedback information, the driving instruction and the position information of the test point. Local structural information can be used to determine the overall structural information of the object to be tested. Multiple tactile detection devices can detect simultaneously, which can improve the structural detection efficiency of the object to be tested made of soft materials, thereby reducing the time consumption of the detection process; in addition, each tactile detection device operates according to the corresponding drive instruction. After any tactile detection device detects the current point to be tested, it can immediately start detecting the next point to be tested. Moreover, after any tactile detection device detects all the points to be tested in the current local area, it can immediately start detecting the points to be tested in the next local area, without being affected by the detection process of other tactile detection devices. The detection processes of each tactile detection device are independent of each other and do not interfere with each other, which can reduce the overall time consumption of the detection process and further improve the detection efficiency.

[0106] In addition, refer to Fig.11 and Fig.12 , Fig.11 A system block diagram of a structure detection system according to another embodiment is shown, wherein the structure detection system comprises a plurality of tactile detection devices 1101 and a controller 1102, wherein the tactile detection devices 1101 are electrically connected to the controller 1102;

[0107] Fig.12 The hardware structure of the controller of the structure detection system of another embodiment is illustrated, and the controller includes:

[0108] The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0109] The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1202 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1202, and the processor 1201 calls and executes the structure detection method of the embodiment of the present application, for example, executing the above-described Figure 1 Steps S110 to S160 of the method, Figure 2 Steps S210 to S240 of the method, Figure 3 Steps S310 to S330 of the method, Figure 4 Steps S410 to S420 of the method, Figure 5 Steps S510 to S530 of the method, Figure 6 Steps S610 to S630 of the method;

[0110] Input / output interface 1203, used to implement information input and output;

[0111] The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0112] A bus 1205 that transmits information between the various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204);

[0113] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0114] The present application also provides a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned structure detection method, for example, to execute the above-mentioned Figure 1 Steps S110 to S160 of the method, Figure 2 Steps S210 to S240 of the method, Figure 3 Steps S310 to S330 of the method, Figure 4 Steps S410 to S420 of the method, Figure 5 Steps S510 to S530 of the method, Figure 6 The method comprises steps S610 to S630.

[0115] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0116] The structural detection method, device, system and storage medium provided in the embodiments of the present application obtain the position information of each test point of the object to be tested, wherein the object to be tested is made of soft material; based on the position information of each test point, each test point is divided and processed to obtain multiple local areas; a drive instruction is generated according to the local area, wherein the drive instruction corresponds to a tactile detection device; the drive instruction is sent to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; feedback information is received from each tactile detection device; local structural information of each local area is determined according to the feedback information, the drive instruction and the position information of the test point, and the overall structural information of the object to be tested is obtained according to all the local structural information. Based on this, each test point of the object to be tested is first divided into multiple local areas through division processing, and then, under the action of the controller, multiple tactile detection devices are controlled to detect each local area of ​​the object to be tested respectively. For any tactile detection device, the controller sends a driving instruction to control the tactile detection device to move above the corresponding local area first, and then controls the tactile detection device to move toward the local area, and receives feedback information from the tactile detection device in real time, and then combines the feedback information, the driving instruction and the position information of the test point to determine the local structure information of each local area, and then determines the overall structure information of the object to be tested. Multiple tactile detection devices are used to detect each local area of ​​the object to be tested. The detection devices detect simultaneously, which can improve the efficiency of structural detection of the object to be tested made of soft materials, thereby reducing the time consumption of the detection process; in addition, each tactile detection device operates according to the corresponding drive instruction, and any tactile detection device can immediately start detecting the next point to be tested after detecting the current point to be tested, and any tactile detection device can immediately start detecting the points to be tested in the next local area after detecting all the points to be tested in the current local area, without being affected by the detection process of other tactile detection devices. The detection processes of each tactile detection device are independent of each other and do not interfere with each other, which can reduce the overall time consumption of the detection process and further improve the detection efficiency.

[0117] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0118] It can be understood by those skilled in the art that Figures 1 to 6 The technical solutions shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figure, or a combination of certain steps, or different steps.

[0119] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0121] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0122] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0123] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, a controller of a structure detection system, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0127] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A structure detection method, applied to a controller of a structure detection system, characterized in that: The structure detection system comprises a plurality of tactile detection devices and the controller, wherein the tactile detection devices are electrically connected to the controller, and the method comprises: Acquiring position information of each test point of the object to be tested, wherein the object to be tested is made of a soft material; Based on the position information of each of the points to be measured, each of the points to be measured is divided and processed to obtain a plurality of local areas; generating a driving instruction according to the local area, wherein the driving instruction corresponds to the tactile detection device; sending the driving instruction to the corresponding tactile detection device to move the tactile detection device toward the corresponding local area; receiving feedback information from each of the tactile detection devices; Determine the local structural information of each of the local areas according to the feedback information, the drive instruction and the position information of the test point, and obtain the overall structural information of the test object according to all the local structural information; Wherein, determining the local structural information of each of the local areas according to the feedback information, the driving instruction and the position information of the test point, and obtaining the overall structural information of the test object according to all the local structural information includes: determining a force curve of the tactile detection device according to the feedback information; Determining a displacement curve of the tactile detection device according to the driving instruction, wherein the displacement curve corresponds to the force curve; For any of the local areas, local structural information of the local area is determined according to a preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, wherein the sampling gradient is used to perform sampling processing on the force curve or the displacement curve; The overall structural information of the object to be tested is obtained based on all the local structural information.

2. The method according to claim 1, characterized in that Before the step of determining the local structural information of any of the local areas according to the preset sampling gradient, the force curve, the displacement curve and the position information of the measured point, the method further includes: For any of the local areas, a target point to be measured is determined among all the points to be measured, and the target point to be measured is associated with the local area to obtain an association relationship between the target point to be measured and the local area, wherein the target point to be measured is located at the edge or inside of the local area; For any of the points to be measured, based on the association relationship, the number of the local areas associated with the point to be measured is determined to obtain the area association number of the point to be measured, wherein the number of force curves and displacement curves corresponding to the point to be measured is equal to the area association number; Traversing each of the points to be measured, when the number of area associations of the point to be measured is greater than one, averaging the force curves corresponding to the point to be measured to update the force curve, and averaging the displacement curves corresponding to the point to be measured to update the displacement curve.

3. The method according to claim 1, characterized in that The local area is a rectangular area; based on the position information of each of the points to be measured, each of the points to be measured is divided and processed to obtain a plurality of local areas, including: Determine a measurement area according to the position information of each of the points to be measured; The measurement area is divided into multiple adjacent rectangular areas.

4. The method according to claim 1, characterized in that: Any of the tactile detection devices is provided with a plurality of tactile sensors, the measuring ends of the tactile sensors are located on the same horizontal plane, and the sizes of any two of the local areas are the same.

5. The method according to claim 1, characterized in that The sampling gradient includes a force gradient, and the local structure information includes height structure information; for any of the local areas, determining the local structure information of the local area according to the preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured includes: For any of the points to be measured, based on the force gradient, the force curve is sampled and processed to determine a plurality of first target force values, wherein the difference between any two adjacent first target force values ​​is equal to the force gradient; determining a first target displacement value according to the first target force value and the displacement curve, wherein the first target displacement value corresponds to the first target force value; For any of the local areas, the height structure information is determined according to the position information, the first target force value and the corresponding first target displacement value.

6. The method according to claim 1, characterized in that The sampling gradient includes a displacement gradient, and the local structure information includes force structure information; for any of the local areas, determining the local structure information of the local area according to the preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured includes: For any of the points to be measured, based on the displacement gradient, the displacement curve is sampled and processed to determine a plurality of second target displacement values, wherein the difference between any two adjacent second target displacement values ​​is equal to the displacement gradient; determining a second target force value according to the second target displacement value and the force curve, wherein the second target force value corresponds to the second target displacement value; For any of the local areas, the force structure information is determined according to the position information, the second target displacement value and the corresponding second target force value.

7. A structure detection device, applied to a controller of a structure detection system, characterized in that: The structure detection system comprises a plurality of tactile detection devices and the controller, wherein the tactile detection devices are electrically connected to the controller, and the device comprises: An acquisition unit, used for acquiring position information of each test point of the object to be tested, wherein the object to be tested is made of a soft material; A division unit, used for dividing each of the points to be measured based on the position information of each of the points to be measured to obtain a plurality of local areas; a generating unit, configured to generate a driving instruction according to the local area, wherein the driving instruction corresponds to the tactile detection device; a sending unit, configured to send the driving instruction to the corresponding tactile detection device, so that the tactile detection device moves toward the corresponding local area; A receiving unit, used for receiving feedback information from each of the tactile detection devices; A structure determination unit, configured to determine the local structure information of each of the local areas according to the feedback information, the drive instruction and the position information of the test point, and obtain the overall structure information of the test object according to all the local structure information; Wherein, determining the local structural information of each of the local areas according to the feedback information, the driving instruction and the position information of the test point, and obtaining the overall structural information of the test object according to all the local structural information includes: determining a force curve of the tactile detection device according to the feedback information; Determining a displacement curve of the tactile detection device according to the driving instruction, wherein the displacement curve corresponds to the force curve; For any of the local areas, local structural information of the local area is determined according to a preset sampling gradient, the force curve, the displacement curve and the position information of the point to be measured, wherein the sampling gradient is used to perform sampling processing on the force curve or the displacement curve; The overall structural information of the object to be tested is obtained based on all the local structural information.

8. A structure detection system, characterized in that: The structure detection system includes a plurality of tactile detection devices and a controller, wherein the tactile detection devices are electrically connected to the controller; the controller includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the structure detection method according to any one of claims 1 to 6 is implemented.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the structure detection method according to any one of claims 1 to 6 is implemented.

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